\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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%

\enlargethispage{100cm}
% Start of code
\begin{tikzpicture}[>=latex',join=bevel,]
\tikzstyle{every state}=[draw=blue!50,very thick,fill=blue!20]%
\node (q0) at (235bp,478bp) [state] {$q_{0}$};
  \node (q6) at (220bp,106bp) [state] {$q_{6}$};
  \node (q5) at (220bp,194bp) [state] {$q_{5}$};
  \node (q4) at (256bp,18bp) [state] {$q_{4}$};
  \node (q3) at (235bp,302bp) [state] {$q_{3}$};
  \node (q2) at (317bp,248bp) [state] {$q_{2}$};
  \node (q1) at (235bp,390bp) [state] {$q_{1}$};
  \draw [->] (q6) ..controls (220bp,136bp) and (220bp,152bp)  .. node[auto] {$\tau$} (q5);
  \draw [->] (q6) ..controls (233bp,76bp) and (240bp,59bp)  .. node[auto] {$\tau$} (q4);
  \draw [->] (q5) ..controls (193bp,180bp) and (186bp,178bp)  .. (179bp,176bp) .. controls (156bp,168bp) and (85bp,177bp)  .. (68bp,158bp) .. controls (64bp,152bp) and (64bp,147bp)  .. (68bp,142bp) .. controls (83bp,124bp) and (143bp,114bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q6);
  \draw [->] (q4) ..controls (168bp,32bp) and (18bp,61bp)  .. (18bp,106bp) .. controls (18bp,302bp) and (18bp,302bp)  .. (18bp,302bp) .. controls (18bp,341bp) and (137bp,371bp)  .. node[auto] {$customer#shippingRequest$} (q1);
  \draw [->] (q3) ..controls (229bp,267bp) and (226bp,242bp)  .. node[auto] {$\tau$} (q5);
  \draw [->] (q3) ..controls (245bp,266bp) and (253bp,237bp)  .. (256bp,212bp) .. controls (262bp,154bp) and (260bp,85bp)  .. node[auto] {$\tau$} (q4);
  \draw [->] (q2) ..controls (312bp,188bp) and (303bp,85bp)  .. (289bp,54bp) .. controls (287bp,49bp) and (283bp,44bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q4);
  \draw [->] (q1) ..controls (235bp,360bp) and (235bp,344bp)  .. node[auto] {$\tau$} (q3);
  \draw [->] (q1) ..controls (259bp,349bp) and (285bp,302bp)  .. node[auto] {$\tau$} (q2);
  \draw [->] (q0) ..controls (235bp,448bp) and (235bp,432bp)  .. node[auto] {$customer#shippingRequest$} (q1);
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\end{tikzpicture}
% End of code

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\end{document}
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